JP2007290646A - 無人ヘリコプタ - Google Patents
無人ヘリコプタ Download PDFInfo
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- JP2007290646A JP2007290646A JP2006123189A JP2006123189A JP2007290646A JP 2007290646 A JP2007290646 A JP 2007290646A JP 2006123189 A JP2006123189 A JP 2006123189A JP 2006123189 A JP2006123189 A JP 2006123189A JP 2007290646 A JP2007290646 A JP 2007290646A
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- unmanned helicopter
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- 238000001514 detection method Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 abstract 2
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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Abstract
【解決手段】無人ヘリコプタ1は、例えば追い風wを受けながらの高速飛行中に旋回する場合など、急激に立ち上がる横風を受けたときに、符号aで示すように、機首2の方向を風上方向と略一致させる。これにより、風を受ける機体3の投影面積が減って風を逃がすことになるので、機体3のロール角を小さくすることが可能となり、結果として、無人ヘリコプタ1の姿勢を安定させることができる
【選択図】 図1
Description
次に、図2を参照して、本実施の形態に係る無人ヘリコプタ1の制御装置の構成について説明する。無人ヘリコプタ1の制御装置は、測定部10と、状態算出部20と、入力部30と、目標値算出部40と、制御量算出部50と、駆動部60とを備えている。
次に、図3を参照して、本実施の形態に係る無人ヘリコプタ1における突風制御動作について説明する。
Claims (2)
- 機体のロール角を検出する検出手段と、
前記ロール角が所定の値以上であるか否かを判定する判定手段と、
前記判定手段により前記ロール角が所定の値以上であると判定されると、機首の方向を風上方向と略一致させる制御手段と
を備えたことを特徴とする無人ヘリコプタ。 - 前記検出手段は、前記ロール角の偏差を検出し、
前記判定手段は、前記偏差が所定の値以上であるか否かを判定し、
前記制御手段は、前記判定手段により前記偏差が所定の値以上であると判定されると、機首の方向を風上方向と略一致させる
ことを特徴とする請求項1記載の無人ヘリコプタ。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006123189A JP4690239B2 (ja) | 2006-04-27 | 2006-04-27 | 無人ヘリコプタ |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006123189A JP4690239B2 (ja) | 2006-04-27 | 2006-04-27 | 無人ヘリコプタ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007290646A true JP2007290646A (ja) | 2007-11-08 |
JP4690239B2 JP4690239B2 (ja) | 2011-06-01 |
Family
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006123189A Active JP4690239B2 (ja) | 2006-04-27 | 2006-04-27 | 無人ヘリコプタ |
Country Status (1)
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JP (1) | JP4690239B2 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010165050A (ja) * | 2009-01-13 | 2010-07-29 | Nippon Telegr & Teleph Corp <Ntt> | 自律移動ロボットの動作計画装置、方法、プログラム及び記録媒体並びに自律移動ロボットの動作制御装置及び方法 |
EP3385810A1 (en) * | 2017-04-05 | 2018-10-10 | Bell Helicopter Textron Inc. | Rotorcraft fly-by-wire stabilization |
CN110001950A (zh) * | 2019-04-06 | 2019-07-12 | 胡永星 | 一种在横风中保持飞行稳定的四旋翼无人机 |
WO2020211813A1 (zh) * | 2019-04-19 | 2020-10-22 | 深圳市道通智能航空技术有限公司 | 立面环绕飞行的控制方法、装置、终端及存储介质 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07300096A (ja) * | 1994-03-10 | 1995-11-14 | Yamaha Motor Co Ltd | 無人ヘリコプタの姿勢制御装置 |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
-
2006
- 2006-04-27 JP JP2006123189A patent/JP4690239B2/ja active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07300096A (ja) * | 1994-03-10 | 1995-11-14 | Yamaha Motor Co Ltd | 無人ヘリコプタの姿勢制御装置 |
JP2000118498A (ja) * | 1998-10-09 | 2000-04-25 | Yamaha Motor Co Ltd | 無人ヘリコプタの飛行制御システム |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010165050A (ja) * | 2009-01-13 | 2010-07-29 | Nippon Telegr & Teleph Corp <Ntt> | 自律移動ロボットの動作計画装置、方法、プログラム及び記録媒体並びに自律移動ロボットの動作制御装置及び方法 |
EP3385810A1 (en) * | 2017-04-05 | 2018-10-10 | Bell Helicopter Textron Inc. | Rotorcraft fly-by-wire stabilization |
US10611463B2 (en) | 2017-04-05 | 2020-04-07 | Textron Innovations Inc. | Rotorcraft fly-by-wire stabilization |
CN110001950A (zh) * | 2019-04-06 | 2019-07-12 | 胡永星 | 一种在横风中保持飞行稳定的四旋翼无人机 |
WO2020211813A1 (zh) * | 2019-04-19 | 2020-10-22 | 深圳市道通智能航空技术有限公司 | 立面环绕飞行的控制方法、装置、终端及存储介质 |
US11789467B2 (en) | 2019-04-19 | 2023-10-17 | Autel Robotics Co., Ltd. | Method, apparatus, terminal, and storage medium for elevation surrounding flight control |
Also Published As
Publication number | Publication date |
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JP4690239B2 (ja) | 2011-06-01 |
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